Feedforward.h

#pragma once
 
#include <algorithm>
 
#include <units/base.h>
#include <units/time.h>
#include <units/voltage.h>
 
namespace rmb {
 
template <typename DistanceUnit> class Feedforward {
public:
  using Distance_t =
      units::unit_t<DistanceUnit>; 
  using VelocityUnit =
      units::compound_unit<DistanceUnit,
                           units::inverse<units::seconds>>; 
  using Velocity_t =
      units::unit_t<VelocityUnit>; 
  using AccelerationUnit =
      units::compound_unit<VelocityUnit,
                           units::inverse<units::seconds>>; 
  using Acceleration_t = units::unit_t<
      AccelerationUnit>; 
  using KsUnit = units::volts;        
  using Ks_t = units::unit_t<KsUnit>; 
  using KvUnit = units::compound_unit<
      units::volts, units::inverse<VelocityUnit>>; 
  using Kv_t = units::unit_t<KvUnit>;              
  using KaUnit = units::compound_unit<
      units::volts,
      units::inverse<AccelerationUnit>>; 
  using Ka_t = units::unit_t<KaUnit>;    
  virtual units::volt_t
  calculate(Velocity_t velocity, Distance_t distance = Distance_t(0.0),
            Acceleration_t acceleration = Acceleration_t(0.0)) const = 0;
 
  virtual Velocity_t maxAchievableVelocity(units::volt_t maxVoltage,
                                           Acceleration_t acceleration,
                                           Distance_t position) const = 0;
 
  virtual Velocity_t minAchievableVelocity(units::volt_t maxVoltage,
                                           Acceleration_t acceleration,
                                           Distance_t position) const = 0;
  virtual Acceleration_t
  maxAchievableAcceleration(units::volt_t maxVoltage, Velocity_t velocity,
                            Distance_t position) const = 0;
 
  virtual Acceleration_t
  minAchievableAcceleration(units::volt_t maxVoltage, Velocity_t velocity,
                            Distance_t position) const = 0;
 
  virtual Kv_t getVelocityGain() const = 0;
 
  virtual Ka_t getAcclerationGain() const = 0;
 
  virtual units::volt_t
  calculateStatic(Velocity_t velocity,
                  Distance_t position = Distance_t(0)) const = 0;
};
} // namespace rmb